/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "retarget.h"
#include "key.h"
#include "motor.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
    uint8_t  motor_flag=0;
    uint16_t motor_juli_zheng;
    uint16_t motor_juli_fan;
    uint16_t motor_speed;

    float juli;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
 void ui(){
    putchar(0x0c);
    printf("JMYQ 0515\r\n");
    if (motor_flag == 1){
        printf("Direction:Forward\r\n");
    }
    if (motor_flag == 2){
        printf("Direction:backward\r\n");
    } else{
        printf("stop!\r\n");
        printf("lead:%.2f mm\r\n",juli);
    }

 }

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */



  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM6_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM7_Init();
  /* USER CODE BEGIN 2 */
    RetargetInit(&huart1);
    HAL_TIM_Base_Start(&htim6);

    motor_juli_zheng=0;
    motor_juli_fan=0;
    motor_speed=4000;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
      /*测试程序1
        * 延时正转5圈；反转5圈；一直循环，8拍（0.9°），
        * 1拍延时1ms（HAL_Delay(1)）
          * 按SW4直接停止
       */
      //TEST_MOTOR1();
      //printf("%d\r\n",motor_flag);

      /*测试程序2
       * 按SW1正转；按SW2反转
       * 按SW4直接停止（优先级最高的外部中断）并显示其导程
      */
        //TEST_MOTOR2();


      /*测试程序3
       * 按SW1正转；按SW2反转
       * 加入加速过程
       * 按SW4直接停止（优先级最高的外部中断）并显示其导程
      */
      //printf("hello\r\n");
	  TEST_MOTOR2();

  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
//	HAL_Delay(10);
    switch(GPIO_Pin)
    {
        case KEY0_Pin:
            if(HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == GPIO_PIN_RESET)
            {
                STAR_MOTOR();
                motor_flag=1;
                break;
            }

        case KEY1_Pin:
            if(HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == GPIO_PIN_RESET)
            {
                STAR_MOTOR();
                motor_flag=2;
                break;
            }
        /*case KEY2_Pin:
            if(HAL_GPIO_ReadPin(KEY2_GPIO_Port, KEY2_Pin) == GPIO_PIN_RESET)
            {
                motor_flag=3;
                break;
            }*/
        case KEY_UP_Pin:
            if(HAL_GPIO_ReadPin(KEY_UP_GPIO_Port, KEY_UP_Pin) == GPIO_PIN_SET)
            {
                motor_flag=0xff;
                CLOSE_MOTOR();
                break;
            }
    }

}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
